ME 445
ME 445 - Introduction to Robotics
Spring 2024
| Title | Rubric | Section | CRN | Type | Hours | Times | Days | Location | Instructor |
|---|---|---|---|---|---|---|---|---|---|
| Introduction to Robotics | AE482 | AB1 | 65307 | LAB | 0 | 0900 - 1050 | T | 3071 Electrical & Computer Eng Bldg | Yizhen Lu |
| Introduction to Robotics | AE482 | AB2 | 65308 | LAB | 0 | 0900 - 1050 | R | 3071 Electrical & Computer Eng Bldg | Yizhen Lu |
| Introduction to Robotics | AE482 | AB3 | 65309 | LAB | 0 | 1400 - 1550 | T | 3071 Electrical & Computer Eng Bldg | Chuyuan Tao |
| Introduction to Robotics | AE482 | AB4 | 65310 | LAB | 0 | 1400 - 1550 | R | 3071 Electrical & Computer Eng Bldg | Kazuki Shin |
| Introduction to Robotics | AE482 | AB5 | 65311 | LAB | 0 | 0900 - 1050 | M | 3071 Electrical & Computer Eng Bldg | Chuyuan Tao |
| Introduction to Robotics | AE482 | AB6 | 68178 | LAB | 0 | 1600 - 1750 | T | 3071 Electrical & Computer Eng Bldg | Kaiwen Hong |
| Introduction to Robotics | AE482 | AB7 | 68181 | LAB | 0 | 1600 - 1750 | R | 3071 Electrical & Computer Eng Bldg | Kaiwen Hong |
| Introduction to Robotics | AE482 | AL | 65306 | LEC | 4 | 1230 - 1350 | T R | 1013 Electrical & Computer Eng Bldg | Mohamed Ali Belabbas |
| Introduction to Robotics | ECE470 | AB1 | 65294 | LAB | 0 | 0900 - 1050 | T | 3071 Electrical & Computer Eng Bldg | Yizhen Lu |
| Introduction to Robotics | ECE470 | AB2 | 65295 | LAB | 0 | 0900 - 1050 | R | 3071 Electrical & Computer Eng Bldg | Yizhen Lu |
| Introduction to Robotics | ECE470 | AB3 | 65296 | LAB | 0 | 1400 - 1550 | T | 3071 Electrical & Computer Eng Bldg | Chuyuan Tao |
| Introduction to Robotics | ECE470 | AB4 | 65297 | LAB | 0 | 1400 - 1550 | R | 3071 Electrical & Computer Eng Bldg | Kazuki Shin |
| Introduction to Robotics | ECE470 | AB5 | 65298 | LAB | 0 | 0900 - 1050 | M | 3071 Electrical & Computer Eng Bldg | Chuyuan Tao |
| Introduction to Robotics | ECE470 | AB6 | 68176 | LAB | 0 | 1600 - 1750 | T | 3071 Electrical & Computer Eng Bldg | Kaiwen Hong |
| Introduction to Robotics | ECE470 | AB7 | 68179 | LAB | 0 | 1600 - 1750 | R | 3071 Electrical & Computer Eng Bldg | Kaiwen Hong |
| Introduction to Robotics | ECE470 | AL | 65293 | LEC | 4 | 1230 - 1350 | T R | 1013 Electrical & Computer Eng Bldg | Mohamed Ali Belabbas |
| Introduction to Robotics | ME445 | AB1 | 65301 | LAB | 0 | 0900 - 1050 | T | 3071 Electrical & Computer Eng Bldg | Yizhen Lu |
| Introduction to Robotics | ME445 | AB2 | 65302 | LAB | 0 | 0900 - 1050 | R | 3071 Electrical & Computer Eng Bldg | Yizhen Lu |
| Introduction to Robotics | ME445 | AB3 | 65303 | LAB | 0 | 1400 - 1550 | T | 3071 Electrical & Computer Eng Bldg | Chuyuan Tao |
| Introduction to Robotics | ME445 | AB4 | 65304 | LAB | 0 | 1400 - 1550 | R | 3071 Electrical & Computer Eng Bldg | Kazuki Shin |
| Introduction to Robotics | ME445 | AB5 | 65305 | LAB | 0 | 0900 - 1050 | M | 3071 Electrical & Computer Eng Bldg | Chuyuan Tao |
| Introduction to Robotics | ME445 | AB6 | 68177 | LAB | 0 | 1600 - 1750 | T | 3071 Electrical & Computer Eng Bldg | Kaiwen Hong |
| Introduction to Robotics | ME445 | AB7 | 68180 | LAB | 0 | 1600 - 1750 | R | 3071 Electrical & Computer Eng Bldg | Kaiwen Hong |
| Introduction to Robotics | ME445 | AL | 65300 | LEC | 4 | 1230 - 1350 | T R | 1013 Electrical & Computer Eng Bldg | Mohamed Ali Belabbas |
| Introduction to Robotics | ME445 | ZJU | 73878 | LEC | 4 | - | Katie Driggs-Campbell |
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Official Description
Detailed Course Description
Fundamentals of robotics, rigid motion, homogeneous transformations, forward and inverse kinematics, velocity kinematics, motion planning, trajectory generation, sensing, vision, and control. Prerequisites: One of MATH 225, MATH 286, MATH 415, or MATH 418. 4 undergraduate hours or 4 graduate hours. Crosslisted with ECE 470 and AE 482.
TOPICS:
• Introduction: Historical development of robots; basic terminology and structure; robots in automated manufacturing
• Rigid Motions and Homogeneous Transformation: Rotations and their composition; Euler angles; roll-pitch-yaw; homogeneous transformations; Matlab and Mathematica code for symbolic and numerical computation
• Forward Kinematics: Common robot configurations; Denavit-Hartenberg convention; A-matrices; T-matrices; examples
• Inverse kinematics: Planar mechanisms; geometric approaches; spherical wrist
• Velocity kinematics: Angular velocity and acceleration; The Jacobian; singular configurations; singular values; pseudoinverse; manipulability
• Motion planning: Configuration space; artificial potential fields; randomized methods; collision detection
• Trajectory generation: Joint space interpolation; polynomial splines; trapezoidal velocity profiles; minimum time trajectories
• Feedback control: Actuators and sensors; transfer functions; tracking and disturbance rejection; PID control; feed forward control; resolved motion rate control
• Vision-based control: The geometry of image formation; feature extraction; feature tracking; the image Jacobian; visual servo control Advanced Topics (one or more of the following depending on the instructor): Lagrangian dynamics; parallel robots; mobile
LABORATORY TOPICS:
• Teach pendant programming; off-line programming; workcell generation; computer/robot interfacing; kinematics; symbolic math packages for robot kinematics; inverse kinematics; motion planning; trajectory planning; feedback control; camera calibration; feature detection and tracking; vision-based manipulation
ME: MechSE or technical elective.
EM: Possible secondary field, with approval.